飞思卡尔智能汽车竞赛单片机程序(光电组).docx

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1、飞思卡尔智能汽车竞赛单片机程序(光电组)#includehidef.h/*commondefinesandmacros*/#includederivative.h/*derivative-specificdefinitions*/#includemath.htypedefcharint8;#defineMAXCOUNTER1500#defineWBUFSIZE10#defineINVALIDSENSOR1000longcounter=0x00000000;/foroutofcourseintblackcount=0;/forcrosscoursesunsignedintsensor=0;int

2、delta=0,delta0=0;/舵机偏转角0.1度intwWBUFSIZE=0,0,0,0,0,0,0,0,0,0;intw_p=0;/偏差mm缓冲器及其指针intw1=0,w2=0,w3=0;/平均偏差mmintDT=1;/timeinterval(ms)intPulseNumAll=0;/总脉冲数intu;/longitudespeed(mm/s)/intpsi_r0=0,psi_r1=0;/psirequested(degree)intH=100,L=200;/H是传感器到前轮距离。L是前后轮距离intrun_state=0;/stateofthecarintboma;intc=0;

3、intc1=0;intc2=0;intc3=0;intdecv=0;/*PLL部分*/voidSetBusCLK_64M(void)/OSC=16MHzCLKSEL=0X00;/disengagePLLtosystemPLLCTL_PLLON=1;/turnonPLLSYNR=0xc0|0x07;REFDV=0x80|0x01;POSTDIV=0x00;/pllclock=2*osc*(1+SYNR)/(1+REFDV)=128MHz;/BUSCLOCK=pllclock/2=64MHz/fVCO=2*fOSC*(SYNDIV+1)/(REFDIV+1)/fPLL=fVCO/(2POSTDIV

4、)/fBUS=fPLL/2/IfPOSTDIV=$00thenfPLLisidenticaltofVCO(dividebyone)._asm(nop);_asm(nop);while(!(CRGFLG_LOCK=1);/时钟校正同步，whenpllissteady,thenuseit;CLKSEL_PLLSEL=1;/engagePLLtosystem;/*PWM,I/O初始化*/voidPWM_Init(void)PWME=0x00;/PWMdisablePWMPOL=0xFF;/输出开场为高电平,当给定计数到来时变低电平PWMCLK=0x00;/PWM0,1和PWM4,5时钟源选择Cloc

5、kA;PWM2,3时钟源选择ClockB;PWMPRCLK=0x66;/ClockA=ClockB=64MHz/64=1MHzPWMCAE=0x00;/对齐方式：左对齐/PWMCTL_CON01=1;/PWM01合并16bitPWMPER0=200;/PWM1Period=200/1M=0.2ms,f=5kHZPWMDTY0=200;/占空比=(PWMDTYx+1)/(PWMPERx+1)100%PWME_PWME0=1;/电机enablePWME_PWME1=0;PWMCTL_CON45=1;/PWM45合并16bitPWMPER45=20000;/PWM5Period=20000/1M=2

6、0ms.f=50HZPWMDTY45=1490;/占空比=50%PWME_PWME5=1;/舵机enable/*数字端口初始化*/voidPort_Init(void)DDRA=0X00;/方向控制寄存器，设置A口输入DDR寄存器置0为输入，置1为输出PORTA=0X00;/数据寄存器，初始化时设置为全0DDRB=0X00;/同上PORTB=0X00;/DDRT=0x00;boma=PTIT0x0f;/TIMInputcaptureinitializevoidPT4_Capture_Init(void)TSCR1=0x80;/定时器使能TIE=0x00;/每一位对应相应通道中断禁止,0表示禁止

7、中断TCTL3=0x02;/EDGnBEDGnA1表示上升沿,2表示下降沿,3表示任何沿/PT4下降沿有效TIOS=0x00;/每一位对应通道的:0输入捕捉,1输出比拟TIE=0xff;/中断使能/PITinitialize,DTmsinterruptvoidPitInit(void)PITCFLMT_PITE=0;/disablePITPITCE_PCE0=1;/enabletimerchannel0PITMTLD0=64-1;/1MHzPITMUX=0X00;/ch0connectedtomicrotimer0PITLD0=DT*1000-1;/INTVERALmicrotimebases

8、(PITMTLD+1)*(PITLD+1)/fBUSPITINTE_PINTE0=1;/enableinteruptchannel0PITCFLMT_PITE=1;/enablePIT/PITCNT0,类似于自由记数器,只不过一直是递减,TCNT是一直递增/控制马达速度voidset_speed(void)if(counterMAXCOUNTER)/速度选择/switch(boma)case0x00:PWMDTY0=120;break;case0x01:PWMDTY0=110+delta/30*delta/100;break;case0x02:PWMDTY0=100+delta/30*delt

9、a/100;break;case0x04:PWMDTY0=90+delta/30*delta/100;break;case0x08:PWMDTY0=80+delta/30*delta/100;break;case0x09:PWMDTY0=80;break;case0x03:PWMDTY0=70+delta/30*delta/100;break;case0x07:PWMDTY0=60+delta/30*delta/100;break;case0x0e:PWMDTY0=50+delta/30*delta/100;break;case0x0f:PWMDTY0=40+delta/30*delta/10

10、0;break;default:break;/*if(boma)PWMDTY0=90;elsePWMDTY0=50+delta/30*delta/100;*/elsePWMDTY0=200;/读传感器值voidget_sensorvalue(void)sensor=PORTA|(PORTB0X1F)8);sensor=sensor;sensor=sensor0x1fff;/传感器值转换为偏差W(mm)/xxxxxxXxxxxxx/2109876543210intsensor_to_w(void)intw=INVALIDSENSOR+1;/invalidvalueswitch(sensor)ca

11、se0x0001:/bit0w=80;break;case0x0003:/bit01w=70;break;case0x0002:/bit1w=60;break;case0x0006:/bit12w=50;break;case0x0004:/bit2w=40;break;case0x000c:/bit23w=35;break;case0x0008:/bit3case0x001c:/bit234w=30;break;case0x0018:/bit34w=25;break;case0x0010:/bit4case0x0038:/bit345w=20;break;case0x0030:/bit45w=

12、15;break;case0x0020:/bit5case0x0070:/bit456w=10;break;case0x0060:/bit56w=5;break;case0x0040:/bit6case0x00e0:/bit567w=0;break;case0x00c0:/bit67w=-5;break;case0x0080:/bit7case0x01c0:/bit678w=-10;break;case0x0180:/bit78w=-15;break;case0x0100:/bit8case0x0380:/bit789w=-20;break;case0x0300:/bit89w=-25;bre

13、ak;case0x0200:/bit9case0x0700:/bit8910w=-30;break;case0x0600:/bit910w=-35;break;case0x0400:/bit10w=-40;break;case0x0c00:/bit1011w=-50;break;case0x0800:/bit11w=-60;break;case0x1800:/bit1112w=-70;break;case0x1000:/bit12w=-80;break;default:break;/switch/*if(sensor=0x1fff)counter=0x00000000;blackcount=1

14、0;*/if(sensor|0x01f0)=0xffff)/判定三角标志blackcount=10;+c1;if(c130c2=0)/trianglecounter=0;c1=0;c2=c2+1;if(c130c20)counter=0;elsec1=0;if(blackcount0)-blackcount;if(counterMAXCOUNTER)if(wINVALIDSENSOR)counter=0x00000000;if(sensor0x1800)(sensor0x0003)/Twoendsisblack(sensor|0x1803)!blackcount)/Therearewhites

15、incenter/counter=0x00000000;c3+;if(c35c=0)/判定是起点，前进c=10;c3=0;counter=0;/if(c32c20)if(c32(c20|c0)/判定是终点，停止counter+=MAXCOUNTER/(10000/DT/u);elsec3=0;+counter;returnw;/根据偏差平均值计算转向角voidset_delta(void)/20200710inta;a=(int)(long)L*w1*2*573/(long)H*H+(long)L*H*2+(long)w1*w1);/potentialdeltaif(w130w1-30delt

16、a150delta-150)run_state=0;switch(run_state)case0:/beelineif(w1=40w1=w2w2=w3)run_state=1;elseif(w1=-40w1=w2w2=w3)run_state=-1;break;case1:/incycle右转if(w1=35w1=w2w2=w3delta200)run_state=0;elseif(w1w2)a=delta+0.004*573*(w1-w2)*(10+u/2000)/10;/转角过度elseif(w1w2w2w3)a=delta+0.004*573*(w1-w2);/转角缺乏/elsea=de

17、lta;break;case-1:/incycleif(w1=-35w1=w2w2=w3delta-200)run_state=0;elseif(w1w2)a=delta+0.004*573*(w1-w2)*(10+u/2000)/10;elseif(w1w2w2w3)a=delta+0.0035*573*(w1-w2);/elsea=delta;break;default:break;delta0=delta;delta=a;/根据转向角控制舵机的PWMvoidturn(void)intc1=0,c2=0,k1=10,k2=9;/20200710if(delta0)PWMDTY45=(int

18、)(1490+delta/10*k1+c1);elseif(delta0)PWMDTY45=(int)(1490+delta/10*k2-c2);elsePWMDTY45=1490;/TIM4inputcaptureinterruptvoidinterrupt12PT4_Capture(void)PulseNumAll+;/输入脉冲计数TFLG1=0X10;/清中断标志位/定时器0中断voidinterrupt66PIT0(void)/readcoursesensorandspeedget_sensorvalue();ww_p=sensor_to_w();if(+w_p=WBUFSIZE)w_

19、p=0;/speed(mm/s)=/(pulsecount)/(pulseperround)*(wheelgirth(mm)*(gearratio)/(interval(ms)*1000u=(int)(float)PulseNumAll/8.0*173.0*(18.0/76.0)/(DT*WBUFSIZE)*1000);PulseNumAll=0;PITTF_PTF0=1;/clearTime-outFlagBits/延时函数voiddelay(unsignedinttime)staticintdelay_i;for(;timetime-)for(delay_i=0;delay_i10680;

20、delay_i+)voidmain(void)/*putyourowncodehere*/int8i,n;ints1,s2;SetBusCLK_64M();PWM_Init();Port_Init();PT4_Capture_Init();PitInit();EnableInterrupts;delta=0;turn();delay(500);delta=-400;turn();delay(1000);delta=400;turn();delay(1000);delta=0;turn();delay(1000);set_speed();/20200710/delay(300);counter=

21、0x00000000;for(;)_FEED_COP();/*feedsthedog*/if(!w_p)set_speed();/20200710/计算w的平均值s1=0;n=0;for(i=0;iWBUFSIZE;+i)if(wiINVALIDSENSOR)/ifsensorvaluevalids1+=wi;+n;if(!n)continue;/novaliddatas1/=n;/剔除无效数据，再次计算w的平均值，保存在w1中s2=0;n=0;for(i=0;iWBUFSIZE;+i)if(wis1-12wis1+12)/ifsensorvaluevalids2+=wi;+n;if(!n)continue;/novaliddatas2/=n;w3=w2;/20200710w2=w1;w1=s2;set_delta();turn();/if(w_p)/*loopforever*/*pleasemakesurethatyouneverleavemain*/